Learning Innovative Routes for Mobile Robots in Dynamic Partially Unknown Environments

• Main Authors: Maarja Kruusmaa, Alvo Aabloo, Kristo Heero
• Format: Article
• Language: English
• Published: SAGE Publishing 2008-11-01
• Series: International Journal of Advanced Robotic Systems
• Online Access: http://www.intechopen.com/articles/show/title/learning_innovative_routes_for_mobile_robots_in_dynamic_partially_unknown_environments

This paper examines path planning strategies in partially unknown dynamic environemnts and introduces an approach to learning innovative routes. The approach is verified against shortest path planning with a distance transform algorithm, local and global replanning and suboptimal route following in unknown, partially unknown, static and dynamic environments. We show that the learned routes are more reliable and when traversed repeatedly the robot?s behaviour becomes more predictable. The test results also suggest that the knowledge about the environemnt but not about the path planning strategy used.